patrol

name	patrol
description	Patrols a route back and forth between two points, scanning side to side, via a looping sequence of root waypoints. Use when a command mentions patrol, walk a patrol, guard route, march a beat, or pace a patrol back and forth.
category	locomotion
disable-model-invocation	true
subskills	["walk","turn-and-face","move-head-and-neck"]

patrol

Walk out to a point, turn, and walk back — repeating — with the head scanning. A looping sequence whose root returns to start each lap.

Composes: walk + turn-and-face + move-head-and-neck

How

• Use a sequence with loop:true. Frame root is ABSOLUTE; compute the travel axis from state.position+state.faceDeg (0=+Z, 90=+X). The example assumes origin facing +Z.
• Waypoints: advance (z up, scan head), flip faceDeg 180, return (z to 0), flip back — so each lap is self-consistent.
• Long durationMs (~6000).

Example

• "patrol the area" -> {"durationMs":6000,"say":"On patrol.","sequence":{"loop":true,"frames":[{"t":0,"root":{"x":0,"z":0,"faceDeg":0},"pose":{"Neck":[0,30,0]}},{"t":0.4,"root":{"x":0,"z":3,"faceDeg":0},"pose":{"Neck":[0,-30,0]}},{"t":0.5,"root":{"x":0,"z":3,"faceDeg":180}},{"t":0.9,"root":{"x":0,"z":0,"faceDeg":180},"pose":{"Neck":[0,30,0]}},{"t":1,"root":{"x":0,"z":0,"faceDeg":0}}]}}

Limits & posture

Keep ≥1 foot grounded except at a jump's airborne apex; stay inside human joint ranges and keep weight over the support — see balance-and-posture.